CN110497913B - Gear shifting method for improving adaptability of semi-automatic parking system - Google Patents

Gear shifting method for improving adaptability of semi-automatic parking system Download PDF

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CN110497913B
CN110497913B CN201910640254.2A CN201910640254A CN110497913B CN 110497913 B CN110497913 B CN 110497913B CN 201910640254 A CN201910640254 A CN 201910640254A CN 110497913 B CN110497913 B CN 110497913B
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vehicle
gear
angle
point
track
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CN110497913A (en
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马昊宇
孙立华
戴达裘
廖庆敏
卢宗庆
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Shenzhen Hangsheng Electronic Co Ltd
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Shenzhen Hangsheng Electronic Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed

Abstract

The invention is suitable for the field of semi-automatic parking systems, and provides a gear change method for improving the adaptability of a semi-automatic parking system, which comprises the following steps: step S1: setting an initial position and a horizontal state of a vehicle at an initial moment; step S2: setting limit parameters of the vehicle allowed in the automatic parking stage when the vehicle starts to move; step S3: sampling vehicle parameters and planning a reference track; the technical problem that the track cannot be controlled after the gear is changed is solved.

Description

Gear shifting method for improving adaptability of semi-automatic parking system
Technical Field
The invention belongs to the field of semi-automatic parking systems, and particularly relates to a gear change method for improving adaptability of a semi-automatic parking system.
Background
In a semi-automatic parking system, only the steering wheel angle can be controlled by an algorithm, and other devices are controlled by a user. The user can change gears without stopping the parking process; however, after the user changes the gear, the moving direction of the vehicle changes, and path planning needs to be performed again. The most likely reasons for the user to change gears include: the actual width of the parking space is possibly smaller than that of the standard parking space, and the vehicle possibly collides with an obstacle at the outer edge of the parking space; the parking termination position is deviated to one side; the horizontal parking space is small, and the parking space is difficult to directly park in a garage and the like. At this time, gear shifting is required to adjust the vehicle position.
Disclosure of Invention
The invention aims to provide a gear change method for improving the adaptability of a semi-automatic parking system, and aims to solve the technical problem that no way is available for controlling tracks after gears are changed.
The invention is realized in such a way that a gear shifting method for improving the adaptability of a semi-automatic parking system comprises the following steps:
step S1: setting an initial position and a horizontal state of a vehicle at an initial moment;
step S2: setting limit parameters of the vehicle allowed in the automatic parking stage when the vehicle starts to move;
step S3: sampling vehicle parameters and planning a reference track;
step S4: when the gear is changed in the process of reversing, finding a point with the same tangential angle as the vehicle body on a reference track according to the vehicle body deflection angle at the current position, taking a path between the point and the nearest horizontal point which can be reached by advancing along the current gear direction from the point, marking as a curve segment e, splicing the curve segment e to the current position point, driving along the segment of track, when the gear is changed and the driving is finished according to the curve segment e, enabling the vehicle to be in a state of being horizontal to the parking space, driving linearly according to the gear at the moment, and adjusting the vehicle to a position with a proper front-rear distance;
step S5: if the gear is changed again in the driving process according to the curve segment e, selecting a new curve segment on the circumference according to the vehicle body deflection angle at the current position again, wherein the position of the vehicle is known at the moment of changing the gear, calculating the driving end point position of the vehicle after changing the gear according to the position relation between the starting point and the end point of the curve segment e after changing the gear, further judging whether the vehicle collides with the barrier on a new track, judging that the vehicle cannot collide when the gear is changed at a certain position of the originally planned track, and changing the gear at any point after the position on the originally planned track, so that the gear can be changed at will after the vehicle backs up at the point; before the point, the vehicle changes the gear and runs reversely along the original planning track until the gear is changed into the reverse gear again or the parking program is quitted.
The further technical scheme of the invention is as follows: the initial position and the horizontal state are coordinates (x, y) of a central point of a rear axle which are (0, 0); the vehicle is vertical to the X axis, and the axle is vertical to the Y axis; the steering wheel angle is 0; the vehicle heading angle at this time is determined to be 0.
The further technical scheme of the invention is as follows: the limit parameters are that the maximum driving speed allowed in the automatic parking stage is set to be Vm, the maximum allowable rotating speed of the steering wheel is set to be Wm, the maximum allowable unit distance steering wheel rotating angle is Wm/Vm, the maximum steering wheel rotating angle is set to be alpha, the vehicle reaches the maximum steering wheel rotating angle after the distance alpha, Vm/Wm, and the vehicle is driven by keeping the maximum steering wheel rotating angle until the vehicle heading angle reaches 45 degrees.
The further technical scheme of the invention is as follows: the planning reference track is to sample according to the minimum wheel pulse length, store the position of the vehicle at the sampling point, the corner of the front wheel and the deflection angle of the vehicle body, and set the interval length of a single wheel speed pulse signal of the vehicle as d and the maximum corner of the wheel with the single wheel pulse length as0The wheel base of the vehicle is L, and the turning angle of the wheel in the nth period is n before the maximum steering angle is reached0After reaching the maximum steering angle, is a determined valuemax，
Angle of vehicle turning in nth cycle
Figure GDA0002578323810000031
Vehicle body deflection angle after n periods
Figure GDA0002578323810000032
After the end of the (n-1) th cycle,
Figure GDA0002578323810000033
Figure GDA0002578323810000034
wherein R isnIs the turning radius of the wheel in the nth cycle,
Figure GDA0002578323810000035
after the vehicle reaches the maximum turning angle, the turning angle is maintainedmaxAnd (4) calculating the track by the same method until the deflection angle of the vehicle body reaches 45 degrees.
The invention has the beneficial effects that: the application condition of the semi-automatic parking system is enhanced, the generated track is continuous, the wheel speed pulse is used as the only input, and the parking process can be accurately finished by controlling the steering wheel turning angle.
Drawings
FIG. 1 is a block flow diagram illustrating steps of a method for gear shifting to improve adaptability of a semi-automatic parking system according to an embodiment of the present invention;
FIG. 2 is a reference trajectory generated for a test vehicle using a gear shifting method that improves adaptability of a semi-automatic parking system according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating the relationship between the steering angle of the steering wheel, the body deflection angle and the movement distance of the reference trajectory using a gear shifting method for improving the adaptability of the semi-automatic parking system according to the embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a method for selecting a new trajectory after changing gears using a gear shifting method for improving adaptability of a semi-automatic parking system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of gear change during horizontal parking, which is generated by MATLAB using a gear change method for improving adaptability of a semi-automatic parking system according to an embodiment of the present invention.
Detailed Description
Fig. 1 illustrates a gear shifting method for improving adaptability of a semi-automatic parking system according to the present invention, which includes the following steps:
step S1: setting an initial position and a horizontal state of a vehicle at an initial moment; the initial position and the horizontal state are coordinates (x, y) of a central point of a rear axle which are (0, 0); the vehicle is vertical to the X axis, and the axle is vertical to the Y axis; the steering wheel angle is 0; the vehicle heading angle at this time is determined to be 0.
Step S2: setting limit parameters of the vehicle allowed in the automatic parking stage when the vehicle starts to move; the limit parameters are that the maximum driving speed allowed in the automatic parking stage is set to be Vm, the maximum allowable rotating speed of the steering wheel is set to be Wm, the maximum allowable unit distance steering wheel rotating angle is Wm/Vm, the maximum steering wheel rotating angle is set to be alpha, the vehicle reaches the maximum steering wheel rotating angle after the distance alpha, Vm/Wm, and the vehicle is driven by keeping the maximum steering wheel rotating angle until the vehicle heading angle reaches 45 degrees.
Step S3: sampling vehicle parameters and planning a reference track; the planning reference track is to sample according to the minimum wheel pulse length, store the position of the vehicle at the sampling point, the corner of the front wheel and the deflection angle of the vehicle body, and set the interval length of a single wheel speed pulse signal of the vehicle as d and the maximum corner of the wheel with the single wheel pulse length as0The wheel base of the vehicle is L, and the turning angle of the wheel in the nth period is n before the maximum steering angle is reached0After reaching the maximum steering angle, is a determined valuemax，
Angle of vehicle turning in nth cycle
Figure GDA0002578323810000051
Vehicle body deflection angle after n periods
Figure GDA0002578323810000052
After the end of the (n-1) th cycle,
Figure GDA0002578323810000053
Figure GDA0002578323810000054
wherein R isnIs the turning radius of the wheel in the nth cycle,
Figure GDA0002578323810000055
after the vehicle reaches the maximum turning angle, the turning angle is maintainedmaxAnd (4) calculating the track by the same method until the deflection angle of the vehicle body reaches 45 degrees.
Step S4: when the gear is changed in the process of reversing, finding a point with the same tangential angle as the vehicle body on a reference track according to the deflection angle of the vehicle body at the current position, taking a path between the point and the nearest horizontal point which can be reached by advancing along the direction of the current gear from the point, marking as a curve segment e, splicing the curve segment e to the current position point, and driving along the segment of track;
step S5: if the gear is changed again in the driving process according to the curve segment e, selecting a new curve segment on the circumference according to the vehicle body deflection angle at the current position again, wherein the position of the vehicle is known at the moment of changing the gear, calculating the driving end point position of the vehicle after changing the gear according to the position relation between the starting point and the end point of the curve segment e after changing the gear, further judging whether the vehicle collides with the barrier on a new track, judging that the vehicle cannot collide when the gear is changed at a certain position of the originally planned track, and changing the gear at any point after the position on the originally planned track, so that the gear can be changed at will after the vehicle backs up at the point; before the point, the vehicle changes the gear and runs reversely along the original planning track until the gear is changed into the reverse gear again or the parking program is quitted.
FIG. 1 shows a reference trajectory generated for a test vehicle (parameters: wheelbase 2.73m, maximum parking speed 8km/h, maximum rotation speed of front wheels 10 °/s, maximum rotation angle of front wheels 33 °), in a manner that: the vehicle is set to be in an initial position and a horizontal state at an initial time. That is, the coordinate (x, y) of the center point of the rear axle is (0, 0); the vehicle is vertical to the X axis, and the axle is vertical to the Y axis; the steering wheel angle is 0; the vehicle heading angle at this time is determined to be 0. And starting the movement, wherein the maximum driving speed allowed in the automatic parking stage is Vm, the maximum allowable steering wheel rotating speed is Wm, and therefore the maximum allowable unit distance steering wheel rotating angle is Wm/Vm. And if the maximum steering wheel angle is alpha, the vehicle reaches the maximum steering wheel angle after the distance alpha, Vm and Wm. And keeping the maximum steering wheel angle for running until the vehicle heading angle reaches 45 degrees.
FIG. 3 is a reference track steering wheel angleAnd the relationship graph of the deflection angle and the movement distance of the vehicle body. And sampling according to the minimum wheel pulse length, and storing the position of the vehicle at the sampling point, the corner of the front wheel and the deflection angle of the vehicle body. Since the vehicle speed and the moving distance cannot be accurately obtained in real time, the reference trajectory is not planned by using an integral method, but the steering is set to change instantaneously at each wheel speed pulse. Let the interval length of single wheel speed pulse signal of vehicle be d, the maximum rotation angle of wheel with single wheel speed pulse length be0The wheel base of the vehicle is L, and the turning angle of the wheel in the nth period is n before the maximum steering angle is reached0After reaching the maximum steering angle, is a determined valuemax。
Angle of vehicle turning in nth cycle
Figure GDA0002578323810000071
Vehicle body deflection angle after n periods
Figure GDA0002578323810000072
After the end of the (n-1) th cycle,
Figure GDA0002578323810000073
Figure GDA0002578323810000074
wherein R isnIs the turning radius of the wheel in the nth cycle,
Figure GDA0002578323810000081
after the vehicle reaches the maximum turning angle, the turning angle is maintainedmaxAnd (4) calculating the track by the same method until the deflection angle of the vehicle body reaches 45 degrees.
FIG. 4 is a schematic illustration of a method of selecting a new trajectory after changing gears. When the gear is changed in the process of backing a car, finding out a point with the same tangential angle as the car body on a reference track according to the deflection angle of the car body at the current position, taking a path between the point and the nearest horizontal point which can be reached by advancing from the point along the current gear direction, marking as a curve segment e, splicing the curve segment e to the current position point, and driving along the section of track. Since the vehicle must be stopped when changing gear, the steering wheel rotation can be done without moving the vehicle, which trajectory conversion is also possible in practice. When the user changes the gear and finishes driving according to the curve segment e, the vehicle is in a state of being horizontal to the parking space, at the moment, the vehicle is driven linearly according to the gear, and the vehicle is adjusted to a position with a proper front-rear distance. Fig. 5 is a schematic diagram of gear change during horizontal parking by MATLAB.
And if the user changes the gear again in the driving process according to the curve segment e, selecting a new curve segment on the circumference according to the vehicle body deflection angle at the current position again. The position of the vehicle is known at the moment of changing the gear, the driving end point position of the vehicle after changing the gear is calculated according to the position relation between the starting point and the end point of the curve segment e after changing, whether the vehicle collides with an obstacle on a new track or not is further judged, and the derivation is as follows: judging that the change gear does not collide when the vehicle runs at a certain position of the original planning track, and judging that the change gear does not collide when the vehicle runs at any point on the original planning track after the position is changed, and the gear can be changed at any point after the vehicle runs in a reverse mode; before the point, the vehicle is driven reversely along the original planning track until the user changes the gear to the reverse gear again or quits the parking program.
The application condition of the semi-automatic parking system is enhanced, the generated track is continuous, the wheel speed pulse is used as the only input, and the parking process can be accurately finished by controlling the steering wheel turning angle.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (4)

1. A gear shifting method for improving adaptability of a semi-automatic parking system, characterized by comprising the steps of:
step S1: setting an initial position and a horizontal state of a vehicle at an initial moment;
step S2: setting limit parameters of the vehicle allowed in the automatic parking stage when the vehicle starts to move;
step S3: sampling vehicle parameters and planning a reference track;
step S4: when the gear is changed in the process of reversing, finding a point with the same tangential angle as the vehicle body on a reference track according to the vehicle body deflection angle at the current position, taking a path between the point and the nearest horizontal point which can be reached by advancing along the current gear direction from the point, marking as a curve segment e, splicing the curve segment e to the current position point, driving along the segment of track, when the gear is changed and the driving is finished according to the curve segment e, enabling the vehicle to be in a state of being horizontal to the parking space, driving linearly according to the gear at the moment, and adjusting the vehicle to a position with a proper front-rear distance;
step S5: if the gear is changed again in the driving process according to the curve segment e, selecting a new curve segment on the circumference according to the vehicle body deflection angle at the current position again, wherein the position of the vehicle is known at the moment of changing the gear, calculating the driving end point position of the vehicle after changing the gear according to the position relation between the starting point and the end point of the curve segment e after changing the gear, further judging whether the vehicle collides with the barrier on a new track, judging that the vehicle cannot collide when the gear is changed at a certain position of the originally planned track, and changing the gear at any point after the position on the originally planned track, so that the gear can be changed at will after the vehicle backs up at the point; before the point, the vehicle changes the gear and runs reversely along the original planning track until the gear is changed into the reverse gear again or the parking program is quitted.
2. The gear shift method according to claim 1, wherein the initial position and the horizontal state are coordinates (x, y) of a rear axle center point of (0, 0); the vehicle is vertical to the X axis, and the axle is vertical to the Y axis; the steering wheel angle is 0; the vehicle heading angle at this time is determined to be 0.
3. The gear shifting method according to claim 2, wherein the limit parameters are that the maximum allowable driving speed to the auto park phase is Vm, the maximum allowable steering wheel rotation speed is Wm, so the allowable unit distance steering wheel rotation angle is at most Wm/Vm, the maximum steering wheel rotation angle is set to α, and after α · Vm/Wm, the vehicle reaches the maximum steering wheel rotation angle, and the vehicle is driven while keeping the maximum steering wheel rotation angle until the vehicle heading angle reaches 45 °.
4. The gear shifting method according to claim 3, wherein the planned reference trajectory is a sampling according to a minimum wheel pulse length, the position of the vehicle at the sampling point, the front wheel rotation angle and the body slip angle are stored, and the interval length of a single wheel speed pulse signal of the vehicle is d, and the maximum rotation angle of the wheel is d0The wheel base of the vehicle is L, and the turning angle of the wheel in the nth period is n before the maximum steering angle is reached0After reaching the maximum steering angle, is a determined valuemax，
Angle of vehicle turning in nth cycle
Figure FDA0002578323800000021
Vehicle body deflection angle after n periods
Figure FDA0002578323800000022
After the end of the (n-1) th cycle,
Figure FDA0002578323800000023
Figure FDA0002578323800000031
wherein R isnIs the turning radius of the wheel in the nth cycle,
Figure FDA0002578323800000032
after the vehicle reaches the maximum turning angle, the turning angle is maintainedmaxAnd (4) calculating the track by the same method until the deflection angle of the vehicle body reaches 45 degrees.
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